cmake_minimum_required(VERSION 2.8.3)
project(rtk_planning)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  auto_msgs
  roscpp
  rospy
  std_msgs
  common_tool
)
find_package(nanoflann REQUIRED)
find_package(yaml-cpp 0.6.3 REQUIRED)#找到package
find_package(PythonLibs 2.7)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
#add_subdirectory(proto)
find_package(Protobuf REQUIRED)
if(PROTOBUF_FOUND)
   message(STATUS "protobuf library found")
else()
    message(FATAL_ERROR "protobuf library is needed but cant be found")
endif()
include_directories(include ${Protobuf_INCLUDE_DIRS})

FILE(GLOB proto_files ${CMAKE_CURRENT_SOURCE_DIR}/proto/*.proto)  
FOREACH(proto_file ${proto_files})
    STRING(REGEX REPLACE "[^/]proto" "" proto_file_name ${proto_file})
    LIST(APPEND PROTO_SRCS "${proto_file_name}.pb.cc")
    LIST(APPEND PROTO_HDRS "${proto_file_name}.pb.h")
	ADD_CUSTOM_COMMAND(
        PRE_BUILD
		OUTPUT "${proto_file_name}.pb.h" "${proto_file_name}.pb.cc"
		COMMAND protoc --proto_path=${CMAKE_CURRENT_SOURCE_DIR}/proto
                       --cpp_out=${CMAKE_CURRENT_SOURCE_DIR}/proto ${proto_file} 
		DEPENDS ${proto_file}
	)
ENDFOREACH(proto_file)
message(STATUS ${PROTO_SRCS})
message(STATUS ${PROTO_HDRS})
add_custom_target(gen_proto ALL DEPENDS ${PROTO_SRCS} ${PROTO_HDRS})
include_directories(./proto)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   auto_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES rtk_planning
  CATKIN_DEPENDS auto_msgs roscpp rospy std_msgs common_tool
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  include/rtk_planning  
  ${catkin_INCLUDE_DIRS} 
 
)

## Declare a C++ library
add_library(rtk_planning_core_lib src/rtk_planning_core.cpp)
add_dependencies(rtk_planning_core_lib  auto_msgs_generate_messages_cpp)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
#add_executable(${PROJECT_NAME}_node src/rtk_planning_node.cpp )
add_executable(pointcloud_adaptor_example src/pointcloud_adaptor_example.cpp)
add_executable(csv_read_write src/csv_read_write.cpp)
add_executable(preprocesses src/preprocesses.cpp)
add_executable(planning_adaptor src/planning_adaptor.cpp)
add_dependencies(planning_adaptor  auto_msgs_generate_messages_cpp)
message(STATUS ${PROTO_SRCS})

add_executable(rtk_planning_node src/rtk_planning_node.cpp proto/rtk_planning_config.pb.cc)
add_dependencies(rtk_planning_node  auto_msgs_generate_messages_cpp gen_proto)
target_link_libraries(rtk_planning_node nanoflann::nanoflann rtk_planning_core_lib ${catkin_LIBRARIES} 
${Protobuf_LIBRARIES} )

add_executable(gen_circle_csv src/gen_circle_csv.cpp proto/gen_circle_csv_config.pb.cc)
add_dependencies(gen_circle_csv  gen_proto)
target_link_libraries(gen_circle_csv  ${catkin_LIBRARIES} 
${Protobuf_LIBRARIES} )


add_executable(fit_circle src/fit_circle.cpp)
target_link_libraries(fit_circle  ${catkin_LIBRARIES} yaml-cpp ${PYTHON_LIBRARIES})
target_include_directories(fit_circle PRIVATE ${PYTHON_INCLUDE_DIRS})

add_executable(gen_u_shape src/gen_u_shape.cpp)
target_link_libraries(gen_u_shape  ${catkin_LIBRARIES} yaml-cpp)
target_include_directories(gen_u_shape PRIVATE ${PYTHON_INCLUDE_DIRS})
target_link_libraries(gen_u_shape ${PYTHON_LIBRARIES})

 
#add_executable(rtk_planning_core_lib src/rtk_planning_core.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )
target_link_libraries(pointcloud_adaptor_example nanoflann::nanoflann ${catkin_LIBRARIES})
target_link_libraries(planning_adaptor nanoflann::nanoflann ${catkin_LIBRARIES})
target_link_libraries(rtk_planning_core_lib nanoflann::nanoflann ${catkin_LIBRARIES})


#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_rtk_planning.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

#file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/data/smooth_rtk_recording.csv
        #DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/rtk_planning)
FILE(GLOB proto_files ${CMAKE_CURRENT_SOURCE_DIR}/data/*.csv)  
FOREACH(proto_file ${proto_files})
    file(COPY ${proto_file}
    DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/rtk_planning)
ENDFOREACH(proto_file)

file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/config/rtk_planning_config.proto
    DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/rtk_planning)
set(rtk_data_path "${CMAKE_CURRENT_SOURCE_DIR}/data/")
set(rtk_config_path "${CMAKE_CURRENT_SOURCE_DIR}/config/")
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/rtk_data_path.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/rtk_data_path.h)
